cff-version: 1.2.0
abstract: "Synthetically generated affordance dataset consisting of 3237 images with pixel-level annotations for either graspable or pushable affordance classes. Further, 204 annotated real images of similar scenarios are included.<div>Images contain retail store related objects lying of supermarket floors, together with a semantic masks differentiating the object from the background.</div>"
authors:
  - family-names: van Houtum
    given-names: Paul
    orcid: "https://orcid.org/0000-0002-1431-5965"
title: "Retail Objects Affordance Dataset, underlying the MSc thesis: Object Affordance Detection for Mobile Manipulation in Retail Environments"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/14557965.v1
license: CC0
date-released: 2021-05-11